US20030060700A1 - Method of and imaging ultrasound system for determining the position of a catheter - Google Patents

Method of and imaging ultrasound system for determining the position of a catheter Download PDF

Info

Publication number
US20030060700A1
US20030060700A1 US10/109,239 US10923902A US2003060700A1 US 20030060700 A1 US20030060700 A1 US 20030060700A1 US 10923902 A US10923902 A US 10923902A US 2003060700 A1 US2003060700 A1 US 2003060700A1
Authority
US
United States
Prior art keywords
ultrasound
catheter
image
receiver
imaging
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
US10/109,239
Other versions
US6587709B2 (en
Inventor
Torsten Solf
Kai Eck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Assigned to KONINKLIJKE PHILIPS ELECTRONICS N.V. reassignment KONINKLIJKE PHILIPS ELECTRONICS N.V. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ECK, KAI, SOLF, TORSTEN
Publication of US20030060700A1 publication Critical patent/US20030060700A1/en
Application granted granted Critical
Publication of US6587709B2 publication Critical patent/US6587709B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S128/00—Surgery
    • Y10S128/916—Ultrasound 3-D imaging

Definitions

  • the invention relates to a method of determining the position of a catheter in an ultrasound image acquired by means of an ultrasound transducer.
  • the invention also relates to an imaging ultrasound system that is intended for imaging a region of a body and is suitable for carrying out such a method.
  • the determination of the position, or localization, of a catheter introduced into the vascular system of a patient is performed preferably by means of X-ray fluoroscopy in conformity with the present state of the art. This is applicable notably to examinations and therapeutic interventions in the cardiovascular field. Even though X-ray fluoroscopy is comparatively simple in respect of application, it has the drawback that the patient and the medical staff are exposed to radiation.
  • U.S. Pat. No. 4,706,681 discloses a method of determining the position of the tip of a stimulation electrode that is arranged in the heart; according to this method an ultrasound receiver is integrated in said tip. This receiver generates an electric signal when it is struck by the fan-shaped two-dimensional scan beam of a 1D ultrasound transducer. This signal is fed out via the electrode wire and can be detected by an evaluation unit. The occurrence of this signal thus provides an indication that the tip of the electrode is situated exactly in the radiation range of the ultrasound transducer. This makes it possible to distinguish the tip of the electrode from an arbitrary section through the electrode wire in the ultrasound image. However, the position of the electrode cannot be determined beyond the image information of the ultrasound transducer.
  • WO 96/25881 discloses a method of tracking the position of an instrument inside the body of a patient; according to this method the region of operation of the instrument is monitored and displayed by means of an imaging ultrasound system, the position of the instrument being determined at the same time by way of a magnetic positioning system.
  • an imaging ultrasound system the position of the instrument being determined at the same time by way of a magnetic positioning system.
  • the position of its end that is situated outside the body can thus be determined and the position of the tip that is situated inside the body can be deduced therefrom.
  • the information of the positioning system and of the ultrasound system is then combined in the reproduction of the region of operation in an image processing system.
  • U.S. Pat. No. 5,954,649 and WO 00/07501 disclose methods in which one or more reference catheters with ultrasound transmitters are introduced into the body and a catheter that is to be monitored and is provided with at least one ultrasound receiver is positioned in the vicinity of the region of operation.
  • This arrangement enables determination of the position of the catheter relative to the reference catheters by measurement of the transit time of ultrasound signals.
  • additional reference catheters must be used and that the position is determined only with respect to the reference catheters whose location itself is not known exactly.
  • the method serves to determine the position of a catheter in an ultrasound image acquired by means of an ultrasound transducer; in this method the ultrasound transducer is provided in known manner with at least one transmission element for the transmission of ultrasound scan signals and at least one receiving element for the reception of echoes of the scan signals that emanate from the body.
  • the transmission and receiving element may also be one and the same element.
  • the catheter is provided with at least one ultrasound receiver that detects the reception of ultrasound scan signals that were emitted by the ultrasound transducer. The transit time of the ultrasound scan signals from the transmission element of the ultrasound transducer to the receiver in the catheter is then measured and the distance between the ultrasound transducer or the receiving element and the receiver on the catheter is determined from the transit time thus measured.
  • the described method offers the advantage that it enables more accurate determination of the position of the catheter relative to the ultrasound transducer that is usually situated outside the body, because the respective distance between these two elements is determined in conformity with this method. The information thus obtained can then be used for more exact localization of the catheter of interest in an ultrasound image.
  • the ultrasound transducer is configured in such a manner that it acquires a three-dimensional ultrasound image.
  • a transducer includes a plurality of transmission units, so that the distance can be determined between the ultrasound receiver or the ultrasound receivers on the catheter and each of the transmission units. This enables determination of the exact position in space of each ultrasound receiver on the catheter.
  • the proposed method enables, on the basis of the position of the ultrasound receiver on the catheter that can thus be detected, a plane to be selected for display from the three-dimensional ultrasound image, that is, in dependence on the position of said ultrasound receiver.
  • This plane may notably be a plane that contains the ultrasound receiver and hence also the catheter. Consequently, it is no longer necessary to displace the ultrasound transducer or the plane reproduced in the three-dimensional ultrasound image in conformity with the catheter by hand; this plane can now be found automatically by means of the position of the ultrasound receiver on the catheter.
  • the catheter preferably includes at least three ultrasound receivers so that the position in space of three different points of the catheter can be determined. These three points then define a plane wherethrough the catheter extends. When this plane is selected for display from a three-dimensional ultrasound image, it is ensured that it will contain the catheter for a prolonged period of time. For the exceptional case where all ultrasound receivers on the catheter are oriented along one line and hence do not define an unambiguous plane, an arbitrary one of said planes can be selected for display; all three of said planes then contain an ultrasound receiver.
  • the position of the receiver or the receivers on the catheter that is known from the transit time measurements is preferably highlighted. This offers the user information as to where the receivers, whose position is known exactly, are situated.
  • a sub-region to be displayed is determined from the overall ultrasound scan volume by means of the position determined for the ultrasound receivers of the catheter.
  • the subsequent ultrasound display can then be concentrated on this sub-region.
  • the determination of the position of the catheter thus enables a “region of interest” (ROI) to be determined from the total scanned body volume.
  • ROI region of interest
  • measuring data is also acquired; such further data can be associated with the position of the ultrasound receiver then determined.
  • Such measuring data may notably be electrophysiological data, for example, stimulation lead potentials at the heart.
  • the invention also relates to an imaging ultrasound system for the imaging of a part of a body, which system includes the following elements:
  • an ultrasound transducer that is provided with at least one transmission unit for transmitting ultrasound scan signals and with at least one receiving unit for receiving echoes of the scan signals;
  • an image processing unit that is coupled to the ultrasound transducer and is arranged to calculate an image of the part of the body from the measuring signals provided by the ultrasound transducer;
  • At least one catheter that is provided with at least one ultrasound receiver that is coupled to the image processing unit.
  • the image processing unit is arranged to determine the distance between the transmission unit and the receiver (receivers) from the measured transit time of the scan signals from the transmission unit of the ultrasound transducer to the receiver or to the receivers of the catheter.
  • Such an imaging system thus enables more exact determination of the position of the catheter.
  • the imaging system is notably arranged or configured in such a manner that it is suitable for carrying out a method of the kind set forth.
  • the ultrasound transducer preferably includes a plurality of ultrasound transmission units and ultrasound receiving units and is arranged to acquire a three-dimensional ultrasound image in conjunction with the image processing unit.
  • the distance between each transmission unit and each receiver on the catheter can be determined.
  • the exact position of the catheter receiver in the scanned 3D volume can be determined from the known pulse generation timing of the imaging system and the transit time measurements of the catheter receivers.
  • the catheter preferably also includes at least three ultrasound receivers, so that the position of three different points of the catheter can be determined. These three points can then be used to define a plane to be imaged from a three-dimensional ultrasound image, said plane containing at least a section of the catheter.
  • the catheter also includes further medical instruments, such as notably electrodes, for the acquisition of electrophysiological data.
  • the catheter may be a known therapeutic or diagnostic instrument which, because of the additional provision of ultrasound receivers, is particularly suitable for use in combination with a method that employs ultrasound monitoring.
  • FIG. 1 shows diagrammatically the components of an imaging system for determining the position of a catheter
  • FIG. 2 shows the tip of the catheter used in the system that is shown in FIG. 1.
  • the imaging system that is shown in FIG. 1 consists essentially of a 2D ultrasound transducer 1 that is connected to a 3D image processing unit 2 , as well as of a (disposable) catheter 9 that is provided, near its tip, with three ultrasound receivers 10 a , 10 b and 10 c that are also connected to the image processing unit 2 via an interface 7 .
  • the ultrasound transducer 1 and the image processing unit 2 serve in known manner for the acquisition of a three-dimensional echo image of the body volume of a patient 11 that is present in the radiation range of the two-dimensionally distributed transmission units of the ultrasound transducer 1 . From the volumetric ultrasound data thus obtained a plane can be selected so as to be displayed on a monitor 4 that is connected to the image processing unit 2 . Simultaneous display of a plurality of planes or display of a three-dimensional image (for example, using 3D spectacles) is also possible.
  • the catheter 9 may in principle be any type of catheter that is customarily used for treatment or diagnosis.
  • the catheter may be intended especially for carrying out operations such as PTCA (Percutaneous Transluminal Coronary Angioplasty), perfusion measurement, electrophysiological mapping, ablation, blood pressure measurements and so on.
  • PTCA Percutaneous Transluminal Coronary Angioplasty
  • electrophysiological mapping electrophysiological mapping
  • ablation blood pressure measurements
  • cardiac wall contact can also be suitably followed by means of the system in accordance with the invention.
  • three ultrasound receivers 10 a , 10 b and 10 c are arranged at a distance from one another on the tip of the catheter 9 . These receivers are capable of detecting the ultrasound pulses that are generated by the ultrasound system. The measured signals are then applied, via the interface 7 and a lead 5 , to the image processing unit 2 which calculates in real time the position of each of the three receivers 10 a , 10 b , 10 c from the measured transit times of the received pulses while the pulse sequence and geometry of the ultrasound transducer 1 are known.
  • the three ultrasound receivers, and hence the-tip of the catheter 9 can thus be localized relative to the ultrasound transducer that is situated outside the body.
  • the image processing unit 2 can thus utilize the known positions of the ultrasound receivers 10 a , 10 b and 10 c to select a suitable imaging plane 3 from the volumetric ultrasound data so as to display this plane on the monitor 4 .
  • this is the Z plane that contains all three ultrasound receivers 10 a , 10 b and 10 c .
  • the positions of the receivers can additionally be highlighted in the image thus formed.
  • the automatic selection of the “correct” plane, that is, the plane containing the catheter 9 , from the volumetric ultrasound data enables the ultrasound transducer 1 to remain stationary and oriented in the same way throughout the examination, so that readjustment by hand is not necessary.
  • the three ultrasound receivers 10 a , 10 b and 10 c be situated along a straight line by way of exception, they will not define an unambiguous plane. In that case, for example, the plane that contains the three receivers and is oriented in a predetermined direction is selected.
  • the automatic determination of the position of the catheter 9 also makes it possible to isolate a sub-region from the scanned volume so as to ignore edge regions that are not of interest in subsequent ultrasound images.
  • the ultrasound method can thus be automatically concentrated on a Region Of Interest (ROI), so that the necessary exposure time can be reduced and hence a higher image rate can be achieved for the ultrasound system.
  • ROI Region Of Interest
  • the three-dimensional position information can also be applied from the image processing unit 2 to another, notably application-specific system 8 .
  • an instrument that is additionally provided on the catheter 9 can be actuated when the ultrasound receivers 10 a , 10 b and 10 c reach a given position.
  • the interface 7 is also connected to the application-specific system 8 via a lead 7 for the exchange of information.
  • electrophysiological signals that are measured by the catheter can be conducted via said lead 7 .
  • FIG. 2 is a more detailed representation of a feasible configuration of the distal end of the catheter 9 .
  • the catheter 9 has a rounded tip 11 that closes off a flexible catheter tube 15 .
  • Three ring electrodes 12 are provided at a distance from one another along the tube 15 , said electrodes enabling the acquisition of electrophysiological data.
  • Underneath the ring electrodes 12 there is provided a respective ring-shaped piezoelectric receiving element 10 a , 10 b and 10 c .
  • Such a piezoelectric element generates an electric signal when it is exposed to an ultrasound scanning pulse from the ultrasound transducer 1 (FIG. 1).
  • each ultrasound element is covered by a respective inner electrode 13 .
  • All electrodes 12 , 13 are connected to leads that extend through the lumen of the catheter 9 and are fed as a bundle 15 to the interface 7 (FIG. 1).
  • the catheter shown is particularly suitable for the analysis of cardiac arrhythmia.
  • the three-dimensional position information may then be useful for electrophysiological mapping, because the electrical activities of the heart can be superposed directly on geometrical information. This enables the formation of an anatomical map that represents the progression of the electrical excitation and identification of the cause of the arrhythmia.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

The invention relates to an imaging ultrasound system that is provided with an ultrasound transducer (1) and an image processing unit (2) for the acquisition of a three-dimensional ultrasound image of the body of a patient (11), as well as with a catheter (9) for carrying out a therapeutic or diagnostic intervention in the body of the patient. The catheter (9) accommodates, in addition to the customary instruments necessary to carry out its task, three ultrasound receivers (10 a to c) that are mounted at a distance from one another on the tip of the catheter and are capable of detecting the arrival of scan signals of the ultrasound transducer (1). The distance between the ultrasound transducer (1) and the receivers (10 a to c) can be calculated from the transit time of the scan signals. The receivers (10 a to c) can thus be localized in space; this enables notably the selection of, for example, the plane from the three-dimensional ultrasound data that contains all three receivers (10 a to c) of the catheter. The tip of the catheter can thus be automatically tracked and displayed on a monitor (4) at all times without manual displacement of the ultrasound transducer (1) being necessary.

Description

  • The invention relates to a method of determining the position of a catheter in an ultrasound image acquired by means of an ultrasound transducer. The invention also relates to an imaging ultrasound system that is intended for imaging a region of a body and is suitable for carrying out such a method. [0001]
  • The determination of the position, or localization, of a catheter introduced into the vascular system of a patient is performed preferably by means of X-ray fluoroscopy in conformity with the present state of the art. This is applicable notably to examinations and therapeutic interventions in the cardiovascular field. Even though X-ray fluoroscopy is comparatively simple in respect of application, it has the drawback that the patient and the medical staff are exposed to radiation. [0002]
  • In order to avoid such a radiation load it is known to track and guide a catheter by way of an imaging ultrasound system. Systems of this kind offer the additional advantage of soft tissue contrast. It is particularly desirable to use 3D ultrasound scanners that acquire image information in real time from a three-dimensional body volume by means of ultrasound transducer units that are arranged in a flat two-dimensional array (2D). In achieving an appropriate and suitably understandable representation of the three-dimensional information, however, a further problem is encountered. When a two-dimensional image plane is selected from the scanned volume so as to be displayed, it usually does not contain the catheter which, therefore, cannot be guided by way of such an image section. Movements of the body that are due to, for example, respiration or cardiac action complicate matters further. The ultrasound source used, therefore, usually has to be displaced and re-oriented by hand and continuously so as to track the position of interest of the catheter. [0003]
  • U.S. Pat. No. 4,706,681 discloses a method of determining the position of the tip of a stimulation electrode that is arranged in the heart; according to this method an ultrasound receiver is integrated in said tip. This receiver generates an electric signal when it is struck by the fan-shaped two-dimensional scan beam of a 1D ultrasound transducer. This signal is fed out via the electrode wire and can be detected by an evaluation unit. The occurrence of this signal thus provides an indication that the tip of the electrode is situated exactly in the radiation range of the ultrasound transducer. This makes it possible to distinguish the tip of the electrode from an arbitrary section through the electrode wire in the ultrasound image. However, the position of the electrode cannot be determined beyond the image information of the ultrasound transducer. [0004]
  • WO 96/25881 discloses a method of tracking the position of an instrument inside the body of a patient; according to this method the region of operation of the instrument is monitored and displayed by means of an imaging ultrasound system, the position of the instrument being determined at the same time by way of a magnetic positioning system. In the case of a rigid instrument the position of its end that is situated outside the body can thus be determined and the position of the tip that is situated inside the body can be deduced therefrom. The information of the positioning system and of the ultrasound system is then combined in the reproduction of the region of operation in an image processing system. [0005]
  • Furthermore, U.S. Pat. No. 5,954,649 and WO 00/07501 disclose methods in which one or more reference catheters with ultrasound transmitters are introduced into the body and a catheter that is to be monitored and is provided with at least one ultrasound receiver is positioned in the vicinity of the region of operation. This arrangement enables determination of the position of the catheter relative to the reference catheters by measurement of the transit time of ultrasound signals. However, it is a drawback that additional reference catheters must be used and that the position is determined only with respect to the reference catheters whose location itself is not known exactly. [0006]
  • Considering the foregoing it was an object of the present invention to provide a method of and a system for the imaging of a catheter within the body of a patient that are less of a burden to the patient and at the same time provide more information for the user. [0007]
  • This object is achieved by means of a method as disclosed in the characterizing part of [0008] claim 1 and by means of an imaging system as disclosed in the characterizing part of claim 8. Further advantageous embodiments are disclosed in the dependent claims.
  • The method serves to determine the position of a catheter in an ultrasound image acquired by means of an ultrasound transducer; in this method the ultrasound transducer is provided in known manner with at least one transmission element for the transmission of ultrasound scan signals and at least one receiving element for the reception of echoes of the scan signals that emanate from the body. The transmission and receiving element (elements) may also be one and the same element. Furthermore, in conformity with the method the catheter is provided with at least one ultrasound receiver that detects the reception of ultrasound scan signals that were emitted by the ultrasound transducer. The transit time of the ultrasound scan signals from the transmission element of the ultrasound transducer to the receiver in the catheter is then measured and the distance between the ultrasound transducer or the receiving element and the receiver on the catheter is determined from the transit time thus measured. [0009]
  • The described method offers the advantage that it enables more accurate determination of the position of the catheter relative to the ultrasound transducer that is usually situated outside the body, because the respective distance between these two elements is determined in conformity with this method. The information thus obtained can then be used for more exact localization of the catheter of interest in an ultrasound image. [0010]
  • Preferably, the ultrasound transducer is configured in such a manner that it acquires a three-dimensional ultrasound image. Such a transducer includes a plurality of transmission units, so that the distance can be determined between the ultrasound receiver or the ultrasound receivers on the catheter and each of the transmission units. This enables determination of the exact position in space of each ultrasound receiver on the catheter. [0011]
  • When an ultrasound transducer that acquires a three-dimensional image is used, the proposed method enables, on the basis of the position of the ultrasound receiver on the catheter that can thus be detected, a plane to be selected for display from the three-dimensional ultrasound image, that is, in dependence on the position of said ultrasound receiver. This plane may notably be a plane that contains the ultrasound receiver and hence also the catheter. Consequently, it is no longer necessary to displace the ultrasound transducer or the plane reproduced in the three-dimensional ultrasound image in conformity with the catheter by hand; this plane can now be found automatically by means of the position of the ultrasound receiver on the catheter. [0012]
  • The catheter preferably includes at least three ultrasound receivers so that the position in space of three different points of the catheter can be determined. These three points then define a plane wherethrough the catheter extends. When this plane is selected for display from a three-dimensional ultrasound image, it is ensured that it will contain the catheter for a prolonged period of time. For the exceptional case where all ultrasound receivers on the catheter are oriented along one line and hence do not define an unambiguous plane, an arbitrary one of said planes can be selected for display; all three of said planes then contain an ultrasound receiver. [0013]
  • For the display of the acquired ultrasound image, for example, on a monitor, the position of the receiver or the receivers on the catheter that is known from the transit time measurements is preferably highlighted. This offers the user information as to where the receivers, whose position is known exactly, are situated. [0014]
  • In conformity with a further version of the method, a sub-region to be displayed is determined from the overall ultrasound scan volume by means of the position determined for the ultrasound receivers of the catheter. The subsequent ultrasound display can then be concentrated on this sub-region. The determination of the position of the catheter thus enables a “region of interest” (ROI) to be determined from the total scanned body volume. Limiting the image acquisition to this ROI then offers a substantial saving of time that can be used for higher image acquisition rates, for noise reduction, for multifocus etc. [0015]
  • Using the catheter whose position is determined via the ultrasound receiver arranged thereon, preferably further measuring data is also acquired; such further data can be associated with the position of the ultrasound receiver then determined. Such measuring data may notably be electrophysiological data, for example, stimulation lead potentials at the heart. [0016]
  • The invention also relates to an imaging ultrasound system for the imaging of a part of a body, which system includes the following elements: [0017]
  • an ultrasound transducer that is provided with at least one transmission unit for transmitting ultrasound scan signals and with at least one receiving unit for receiving echoes of the scan signals; [0018]
  • an image processing unit that is coupled to the ultrasound transducer and is arranged to calculate an image of the part of the body from the measuring signals provided by the ultrasound transducer; [0019]
  • at least one catheter that is provided with at least one ultrasound receiver that is coupled to the image processing unit. [0020]
  • The image processing unit is arranged to determine the distance between the transmission unit and the receiver (receivers) from the measured transit time of the scan signals from the transmission unit of the ultrasound transducer to the receiver or to the receivers of the catheter. Such an imaging system thus enables more exact determination of the position of the catheter. [0021]
  • The imaging system is notably arranged or configured in such a manner that it is suitable for carrying out a method of the kind set forth. [0022]
  • The ultrasound transducer preferably includes a plurality of ultrasound transmission units and ultrasound receiving units and is arranged to acquire a three-dimensional ultrasound image in conjunction with the image processing unit. When such an ultrasound transducer is provided with a plurality of transmission units, the distance between each transmission unit and each receiver on the catheter can be determined. The exact position of the catheter receiver in the scanned 3D volume can be determined from the known pulse generation timing of the imaging system and the transit time measurements of the catheter receivers. [0023]
  • The catheter preferably also includes at least three ultrasound receivers, so that the position of three different points of the catheter can be determined. These three points can then be used to define a plane to be imaged from a three-dimensional ultrasound image, said plane containing at least a section of the catheter. [0024]
  • Preferably the catheter also includes further medical instruments, such as notably electrodes, for the acquisition of electrophysiological data. This means that the catheter may be a known therapeutic or diagnostic instrument which, because of the additional provision of ultrasound receivers, is particularly suitable for use in combination with a method that employs ultrasound monitoring.[0025]
  • The invention will be described in detail hereinafter, by way of example, with reference to the Figures. Therein: [0026]
  • FIG. 1 shows diagrammatically the components of an imaging system for determining the position of a catheter; [0027]
  • FIG. 2 shows the tip of the catheter used in the system that is shown in FIG. 1.[0028]
  • The imaging system that is shown in FIG. 1 consists essentially of a [0029] 2D ultrasound transducer 1 that is connected to a 3D image processing unit 2, as well as of a (disposable) catheter 9 that is provided, near its tip, with three ultrasound receivers 10 a, 10 b and 10 c that are also connected to the image processing unit 2 via an interface 7.
  • The [0030] ultrasound transducer 1 and the image processing unit 2 serve in known manner for the acquisition of a three-dimensional echo image of the body volume of a patient 11 that is present in the radiation range of the two-dimensionally distributed transmission units of the ultrasound transducer 1. From the volumetric ultrasound data thus obtained a plane can be selected so as to be displayed on a monitor 4 that is connected to the image processing unit 2. Simultaneous display of a plurality of planes or display of a three-dimensional image (for example, using 3D spectacles) is also possible.
  • The [0031] catheter 9 may in principle be any type of catheter that is customarily used for treatment or diagnosis. The catheter may be intended especially for carrying out operations such as PTCA (Percutaneous Transluminal Coronary Angioplasty), perfusion measurement, electrophysiological mapping, ablation, blood pressure measurements and so on. Furthermore, cardiac wall contact can also be suitably followed by means of the system in accordance with the invention.
  • For the monitoring and guiding of the [0032] catheter 9 it is desirable that its tip is reproduced permanently, if possible, on the monitor 4. Whereas in conventional systems such reproduction can be achieved only by continuous manual adjustment of the imaging plane, in the system in accordance with the invention this plane can be automatically recognized and selected for display on the display screen 4.
  • In order to enable the foregoing operation, three [0033] ultrasound receivers 10 a, 10 b and 10 c are arranged at a distance from one another on the tip of the catheter 9. These receivers are capable of detecting the ultrasound pulses that are generated by the ultrasound system. The measured signals are then applied, via the interface 7 and a lead 5, to the image processing unit 2 which calculates in real time the position of each of the three receivers 10 a, 10 b, 10 c from the measured transit times of the received pulses while the pulse sequence and geometry of the ultrasound transducer 1 are known. The three ultrasound receivers, and hence the-tip of the catheter 9, can thus be localized relative to the ultrasound transducer that is situated outside the body. The image processing unit 2 can thus utilize the known positions of the ultrasound receivers 10 a, 10 b and 10 c to select a suitable imaging plane 3 from the volumetric ultrasound data so as to display this plane on the monitor 4. Preferably, this is the Z plane that contains all three ultrasound receivers 10 a, 10 b and 10 c. The positions of the receivers can additionally be highlighted in the image thus formed.
  • The automatic selection of the “correct” plane, that is, the plane containing the [0034] catheter 9, from the volumetric ultrasound data enables the ultrasound transducer 1 to remain stationary and oriented in the same way throughout the examination, so that readjustment by hand is not necessary.
  • Should the three [0035] ultrasound receivers 10 a, 10 b and 10 c be situated along a straight line by way of exception, they will not define an unambiguous plane. In that case, for example, the plane that contains the three receivers and is oriented in a predetermined direction is selected.
  • The automatic determination of the position of the [0036] catheter 9, as enabled by the proposed system, also makes it possible to isolate a sub-region from the scanned volume so as to ignore edge regions that are not of interest in subsequent ultrasound images. The ultrasound method can thus be automatically concentrated on a Region Of Interest (ROI), so that the necessary exposure time can be reduced and hence a higher image rate can be achieved for the ultrasound system.
  • Using an [0037] output lead 6, the three-dimensional position information can also be applied from the image processing unit 2 to another, notably application-specific system 8. For example, an instrument that is additionally provided on the catheter 9 can be actuated when the ultrasound receivers 10 a, 10 b and 10 c reach a given position.
  • The [0038] interface 7 is also connected to the application-specific system 8 via a lead 7 for the exchange of information. For example, electrophysiological signals that are measured by the catheter can be conducted via said lead 7.
  • FIG. 2 is a more detailed representation of a feasible configuration of the distal end of the [0039] catheter 9. The catheter 9 has a rounded tip 11 that closes off a flexible catheter tube 15. Three ring electrodes 12 are provided at a distance from one another along the tube 15, said electrodes enabling the acquisition of electrophysiological data. Underneath the ring electrodes 12 there is provided a respective ring-shaped piezoelectric receiving element 10 a, 10 b and 10 c. Such a piezoelectric element generates an electric signal when it is exposed to an ultrasound scanning pulse from the ultrasound transducer 1 (FIG. 1).
  • At its side that faces the lumen of the [0040] catheter 9 each ultrasound element is covered by a respective inner electrode 13. All electrodes 12, 13 are connected to leads that extend through the lumen of the catheter 9 and are fed as a bundle 15 to the interface 7 (FIG. 1).
  • The catheter shown is particularly suitable for the analysis of cardiac arrhythmia. The three-dimensional position information may then be useful for electrophysiological mapping, because the electrical activities of the heart can be superposed directly on geometrical information. This enables the formation of an anatomical map that represents the progression of the electrical excitation and identification of the cause of the arrhythmia. [0041]

Claims (12)

1. A method of determining the position of a catheter in an ultrasound image acquired by means of an ultrasound transducer, in which method the catheter is provided with at least one ultrasound receiver that detects the reception of ultrasound scanning signals, the distance between the ultrasound transducer and the ultrasound receiver on the catheter being determined from the measured transit time of the scan signals.
2. A method as claimed in claim 1, characterized in that the ultrasound transducer acquires a three-dimensional ultrasound image and that the position in space of the ultrasound receiver on the catheter is determined from the measured transit time of the scan signals.
3. A method as claimed in claim 2, characterized in that for display at least one plane is selected from the three-dimensional ultrasound image in dependence on the position determined for the ultrasound receiver.
4. A method as claimed in claim 3, characterized in that the plane that contains at least one but preferably all ultrasound receivers is selected from the three-dimensional ultrasound image for display, so that the position of the catheter can be tracked continuously.
5. A method as claimed in claim 1, characterized in that the position of the ultrasound receiver is highlighted in the display of the acquired ultrasound image.
6. A method as claimed in claim 1, characterized in that a sub-region of the scanning volume is determined on the basis of the position determined for the ultrasound receiver, the subsequent ultrasound imaging being concentrated on said sub-region.
7. A method as claimed in claim 1, characterized in that further measuring data, notably electrophysiological data, is acquired by means of the catheter so as to be associated with the position determined for the ultrasound receiver.
8. An imaging ultrasound system for the imaging of a part of a body, which system includes
an ultrasound transducer that is provided with at least one transmission unit for transmitting ultrasound scan signals and with at least one receiving unit for receiving echoes of the scan signals;
an image processing unit that is coupled to the ultrasound transducer and is arranged to calculate an image of the part of the body from the measuring signals provided by the ultrasound transducer;
at least one catheter that is provided with at least one ultrasound receiver that is coupled to the image processing unit,
the image processing unit being arranged to determine the distance between the transmission unit of the ultrasound transducer and the ultrasound receiver on the catheter from the transit time of the scan signals.
9. An imaging ultrasound system as claimed in claim 8, characterized in that the ultrasound transducer is provided with a plurality of transmission units and receiving units and is arranged to acquire a three-dimensional ultrasound image in conjunction with the image processing unit.
10. An imaging ultrasound system as claimed in claim 8, characterized in that the catheter is provided with at least three ultrasound receivers.
11. An imaging system as claimed in claim 8, characterized in that the catheter is provided with further medical instruments, notably electrodes for the acquisition of electrophysiological data.
12. An imaging system as claimed in claim 8, characterized in that it is arranged to carry out a method as claimed in one of the claims 1 to 7.
US10/109,239 2001-03-28 2002-03-28 Method of and imaging ultrasound system for determining the position of a catheter Expired - Fee Related US6587709B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10115341.4 2001-03-28
DE10115341 2001-03-28
DE10115341A DE10115341A1 (en) 2001-03-28 2001-03-28 Method and imaging ultrasound system for determining the position of a catheter

Publications (2)

Publication Number Publication Date
US20030060700A1 true US20030060700A1 (en) 2003-03-27
US6587709B2 US6587709B2 (en) 2003-07-01

Family

ID=7679420

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/109,239 Expired - Fee Related US6587709B2 (en) 2001-03-28 2002-03-28 Method of and imaging ultrasound system for determining the position of a catheter

Country Status (4)

Country Link
US (1) US6587709B2 (en)
EP (1) EP1245191A3 (en)
JP (1) JP2002306473A (en)
DE (1) DE10115341A1 (en)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005082441A1 (en) * 2004-02-18 2005-09-09 Philips Intellectual Property & Standards Gmbh Catheter system and method for fine navigation in a vascular system
EP1685799A1 (en) * 2005-01-26 2006-08-02 Kabushiki Kaisha Toshiba Ultrasonic diagnostic apparatus and ultrasonic image acquiring method
US20060184031A1 (en) * 2005-01-26 2006-08-17 Kabushiki Kaisha Toshiba Ultrasonic diagnostic apparatus and ultrasonic image acquiring method
US20060193504A1 (en) * 2003-03-27 2006-08-31 Koninklijke Philips Electronics N.V. Guidance of invasive medical devices by three dimensional ultrasonic imaging
US20060285638A1 (en) * 2005-06-21 2006-12-21 Jan Boese Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images
US20080171988A1 (en) * 2007-01-17 2008-07-17 Erblan Surgical, Inc. Double-cone sphincter introducer assembly and integrated valve assembly
WO2013005123A1 (en) * 2011-07-01 2013-01-10 Koninklijke Philips Electronics N.V. Object-pose-based initialization of an ultrasound beamformer
CN103747729A (en) * 2011-06-13 2014-04-23 皇家飞利浦有限公司 Three-dimensional needle localization with two-dimensional imaging probe
CN103961135A (en) * 2013-02-04 2014-08-06 通用电气公司 System and method for detecting guide pipe position in three-dimensional ultrasonic image
WO2015113807A1 (en) * 2014-01-29 2015-08-06 Koninklijke Philips N.V. System and method for imaging using ultrasound
WO2015155632A1 (en) * 2014-04-11 2015-10-15 Koninklijke Philips N.V. Needle with multiple sensors
US20160045184A1 (en) * 2013-03-15 2016-02-18 Colibri Technologies Inc. Active localization and visualization of minimally invasive devices using ultrasound
US20160199668A1 (en) * 2013-09-19 2016-07-14 Koninklijke Philips N.V. High-dose rate brachytherapy system
CN105899143A (en) * 2014-01-02 2016-08-24 皇家飞利浦有限公司 Ultrasound navigation/tissue characterization combination
JP2016525401A (en) * 2013-07-23 2016-08-25 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Method and system for locating body structure
US20170172539A1 (en) * 2010-05-03 2017-06-22 Koninklijke Philips N.V. Ultrasonic tracking of ultrasound transducer(s) aboard an interventional tool
WO2017114701A1 (en) * 2015-12-31 2017-07-06 Koninklijke Philips N.V. System and method for interventional acoustic imaging
CN107106119A (en) * 2014-10-30 2017-08-29 皇家飞利浦有限公司 The ultrasonic visualization of warp architecture
WO2017194314A1 (en) * 2016-05-10 2017-11-16 Koninklijke Philips N.V. 3d tracking of an interventional instrument in 2d ultrasound guided interventions
WO2018060499A1 (en) * 2016-09-30 2018-04-05 Koninklijke Philips N.V. Tracking a feature of an interventional device
WO2018108717A1 (en) * 2016-12-12 2018-06-21 Koninklijke Philips N.V. Passive and active sensors for ultrasound tracking
WO2019162217A1 (en) * 2018-02-22 2019-08-29 Koninklijke Philips N.V. Sensor-based shape identification
US10610196B2 (en) 2013-06-28 2020-04-07 Koninklijke Philips N.V. Shape injection into ultrasound image to calibrate beam patterns in real-time
US10639004B2 (en) * 2004-11-23 2020-05-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Method and apparatus for localizing an ultrasound catheter
EP3821812A1 (en) * 2019-11-12 2021-05-19 Biosense Webster (Israel) Ltd. Historical ultrasound data for display of live location data
US11324479B2 (en) 2013-06-28 2022-05-10 Koninklijke Philips N.V. Shape injection into ultrasound image to calibrate beam patterns in real-time
US11439363B2 (en) * 2016-12-12 2022-09-13 Koninklijike Philips N.V. Smart tracked interventional tools including wireless transceiver
US11547487B2 (en) 2013-06-28 2023-01-10 Koninklijke Philips N.V. Scanner independent ultrasonic tracking of interventional instruments having an acoustic sensor by means of having an additional acoustic transducer coupled to ultrasound imaging probe

Families Citing this family (83)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7769427B2 (en) * 2002-07-16 2010-08-03 Magnetics, Inc. Apparatus and method for catheter guidance control and imaging
US7270634B2 (en) 2003-03-27 2007-09-18 Koninklijke Philips Electronics N.V. Guidance of invasive medical devices by high resolution three dimensional ultrasonic imaging
US7529393B2 (en) 2003-03-27 2009-05-05 Koninklijke Philips Electronics, N.V. Guidance of invasive medical devices by wide view three dimensional ultrasonic imaging
WO2004084736A1 (en) * 2003-03-27 2004-10-07 Koninklijke Philips Electronics N.V. Guidance of invasive medical devices by three dimensional ultrasonic imaging
US6896657B2 (en) * 2003-05-23 2005-05-24 Scimed Life Systems, Inc. Method and system for registering ultrasound image in three-dimensional coordinate system
US7280863B2 (en) * 2003-10-20 2007-10-09 Magnetecs, Inc. System and method for radar-assisted catheter guidance and control
DE102004007169B4 (en) * 2003-11-28 2009-10-22 Disetronic Licensing Ag Method and device for determining a position for performing a substance delivery
US7403811B2 (en) * 2004-03-01 2008-07-22 Scimed Life Systems, Inc. Method of catheter tracking using image information
US20080234570A1 (en) * 2004-03-05 2008-09-25 Koninklijke Philips Electronics, N.V. System For Guiding a Medical Instrument in a Patient Body
US7618374B2 (en) * 2004-09-27 2009-11-17 Siemens Medical Solutions Usa, Inc. Image plane sensing methods and systems for intra-patient probes
US7382857B2 (en) * 2004-12-10 2008-06-03 Carl Zeiss Ag X-ray catheter assembly
US7775966B2 (en) * 2005-02-24 2010-08-17 Ethicon Endo-Surgery, Inc. Non-invasive pressure measurement in a fluid adjustable restrictive device
US20080015569A1 (en) 2005-02-02 2008-01-17 Voyage Medical, Inc. Methods and apparatus for treatment of atrial fibrillation
US7930016B1 (en) 2005-02-02 2011-04-19 Voyage Medical, Inc. Tissue closure system
US9510732B2 (en) 2005-10-25 2016-12-06 Intuitive Surgical Operations, Inc. Methods and apparatus for efficient purging
US8078266B2 (en) * 2005-10-25 2011-12-13 Voyage Medical, Inc. Flow reduction hood systems
US8934962B2 (en) 2005-02-02 2015-01-13 Intuitive Surgical Operations, Inc. Electrophysiology mapping and visualization system
US10064540B2 (en) 2005-02-02 2018-09-04 Intuitive Surgical Operations, Inc. Visualization apparatus for transseptal access
US8050746B2 (en) 2005-02-02 2011-11-01 Voyage Medical, Inc. Tissue visualization device and method variations
US8137333B2 (en) 2005-10-25 2012-03-20 Voyage Medical, Inc. Delivery of biological compounds to ischemic and/or infarcted tissue
US7918787B2 (en) * 2005-02-02 2011-04-05 Voyage Medical, Inc. Tissue visualization and manipulation systems
US11478152B2 (en) 2005-02-02 2022-10-25 Intuitive Surgical Operations, Inc. Electrophysiology mapping and visualization system
US7927270B2 (en) 2005-02-24 2011-04-19 Ethicon Endo-Surgery, Inc. External mechanical pressure sensor for gastric band pressure measurements
US7699770B2 (en) * 2005-02-24 2010-04-20 Ethicon Endo-Surgery, Inc. Device for non-invasive measurement of fluid pressure in an adjustable restriction device
US8066629B2 (en) 2005-02-24 2011-11-29 Ethicon Endo-Surgery, Inc. Apparatus for adjustment and sensing of gastric band pressure
US7775215B2 (en) * 2005-02-24 2010-08-17 Ethicon Endo-Surgery, Inc. System and method for determining implanted device positioning and obtaining pressure data
US7658196B2 (en) 2005-02-24 2010-02-09 Ethicon Endo-Surgery, Inc. System and method for determining implanted device orientation
US8016744B2 (en) 2005-02-24 2011-09-13 Ethicon Endo-Surgery, Inc. External pressure-based gastric band adjustment system and method
JP2008535560A (en) * 2005-04-11 2008-09-04 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 3D imaging for guided interventional medical devices in body volume
US8070685B2 (en) * 2005-04-15 2011-12-06 Imacor Inc. Connectorized probe for transesophageal echocardiography
US8027714B2 (en) * 2005-05-27 2011-09-27 Magnetecs, Inc. Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging
DE102005045362B4 (en) * 2005-09-22 2012-03-22 Siemens Ag Device for determining the position of a medical instrument, associated imaging examination device and associated method
US8221310B2 (en) 2005-10-25 2012-07-17 Voyage Medical, Inc. Tissue visualization device and method variations
US20070167739A1 (en) * 2005-12-07 2007-07-19 Salo Rodney W Internally directed imaging and tracking system
US7869854B2 (en) * 2006-02-23 2011-01-11 Magnetecs, Inc. Apparatus for magnetically deployable catheter with MOSFET sensor and method for mapping and ablation
US8152710B2 (en) 2006-04-06 2012-04-10 Ethicon Endo-Surgery, Inc. Physiological parameter analysis for an implantable restriction device and a data logger
US8870742B2 (en) 2006-04-06 2014-10-28 Ethicon Endo-Surgery, Inc. GUI for an implantable restriction device and a data logger
EP2012661A4 (en) * 2006-04-25 2012-10-24 St Jude Medical A piezoelectric sensor, a method for manufacturing a piezoelectric sensor and a medical implantable lead comprising such a piezoelectric sensor
US9055906B2 (en) 2006-06-14 2015-06-16 Intuitive Surgical Operations, Inc. In-vivo visualization systems
US10004388B2 (en) 2006-09-01 2018-06-26 Intuitive Surgical Operations, Inc. Coronary sinus cannulation
US20080097476A1 (en) 2006-09-01 2008-04-24 Voyage Medical, Inc. Precision control systems for tissue visualization and manipulation assemblies
US8029481B2 (en) * 2006-10-17 2011-10-04 Matthew Dickson Reavill Apparatus and method of inserting an infusing catheter and determining catheter depth without a guidewire or direct contact with the catheter
US10335131B2 (en) 2006-10-23 2019-07-02 Intuitive Surgical Operations, Inc. Methods for preventing tissue migration
US20080183036A1 (en) 2006-12-18 2008-07-31 Voyage Medical, Inc. Systems and methods for unobstructed visualization and ablation
US8131350B2 (en) 2006-12-21 2012-03-06 Voyage Medical, Inc. Stabilization of visualization catheters
US8758229B2 (en) 2006-12-21 2014-06-24 Intuitive Surgical Operations, Inc. Axial visualization systems
US20080249395A1 (en) * 2007-04-06 2008-10-09 Yehoshua Shachar Method and apparatus for controlling catheter positioning and orientation
US9155452B2 (en) 2007-04-27 2015-10-13 Intuitive Surgical Operations, Inc. Complex shape steerable tissue visualization and manipulation catheter
US8657805B2 (en) 2007-05-08 2014-02-25 Intuitive Surgical Operations, Inc. Complex shape steerable tissue visualization and manipulation catheter
WO2008141238A1 (en) 2007-05-11 2008-11-20 Voyage Medical, Inc. Visual electrode ablation systems
US8235985B2 (en) 2007-08-31 2012-08-07 Voyage Medical, Inc. Visualization and ablation system variations
US8858609B2 (en) 2008-02-07 2014-10-14 Intuitive Surgical Operations, Inc. Stent delivery under direct visualization
US20090275828A1 (en) * 2008-05-01 2009-11-05 Magnetecs, Inc. Method and apparatus for creating a high resolution map of the electrical and mechanical properties of the heart
US9101735B2 (en) 2008-07-07 2015-08-11 Intuitive Surgical Operations, Inc. Catheter control systems
US8333012B2 (en) 2008-10-10 2012-12-18 Voyage Medical, Inc. Method of forming electrode placement and connection systems
US8894643B2 (en) * 2008-10-10 2014-11-25 Intuitive Surgical Operations, Inc. Integral electrode placement and connection systems
US9468364B2 (en) 2008-11-14 2016-10-18 Intuitive Surgical Operations, Inc. Intravascular catheter with hood and image processing systems
US8457714B2 (en) * 2008-11-25 2013-06-04 Magnetecs, Inc. System and method for a catheter impedance seeking device
US20100204561A1 (en) * 2009-02-11 2010-08-12 Voyage Medical, Inc. Imaging catheters having irrigation
US20110091853A1 (en) * 2009-10-20 2011-04-21 Magnetecs, Inc. Method for simulating a catheter guidance system for control, development and training applications
US20110092808A1 (en) * 2009-10-20 2011-04-21 Magnetecs, Inc. Method for acquiring high density mapping data with a catheter guidance system
US20110112396A1 (en) * 2009-11-09 2011-05-12 Magnetecs, Inc. System and method for targeting catheter electrodes
US8694071B2 (en) 2010-02-12 2014-04-08 Intuitive Surgical Operations, Inc. Image stabilization techniques and methods
US9814522B2 (en) 2010-04-06 2017-11-14 Intuitive Surgical Operations, Inc. Apparatus and methods for ablation efficacy
WO2012129374A1 (en) 2011-03-22 2012-09-27 Corindus, Inc. Robotic catheter system including imaging system control
WO2013001437A1 (en) * 2011-06-29 2013-01-03 Koninklijke Philips Electronics N.V. A tracking system for tracking interventional tools in ultrasound guided interventions and an ultrasound diagnostic system comprising such a tracking system
US20140147027A1 (en) * 2011-07-01 2014-05-29 Koninklijke Philips N.V. Intra-operative image correction for image-guided interventions
CN105232047B (en) 2011-09-06 2019-01-01 伊卓诺股份有限公司 Imaging probe and the method for obtaining position and/or directional information
US9675321B2 (en) 2012-04-30 2017-06-13 Christopher Schlenger Ultrasonographic systems and methods for examining and treating spinal conditions
US9289185B2 (en) 2012-07-23 2016-03-22 ClariTrac, Inc. Ultrasound device for needle procedures
US8795178B2 (en) * 2012-12-31 2014-08-05 General Electric Company Ultrasound imaging system and method for identifying data from a shadow region
US9257220B2 (en) 2013-03-05 2016-02-09 Ezono Ag Magnetization device and method
US9459087B2 (en) 2013-03-05 2016-10-04 Ezono Ag Magnetic position detection system
GB201303917D0 (en) 2013-03-05 2013-04-17 Ezono Ag System for image guided procedure
US11229490B2 (en) 2013-06-26 2022-01-25 Corindus, Inc. System and method for monitoring of guide catheter seating
US10779775B2 (en) 2013-06-26 2020-09-22 Corindus, Inc. X-ray marker guided automated guide wire or working catheter advancement
CN106535774B (en) 2014-07-16 2020-08-25 皇家飞利浦有限公司 Intelligent real-time tool and anatomy visualization in 3D imaging workflow for interventional procedures
US10905396B2 (en) 2014-11-18 2021-02-02 C. R. Bard, Inc. Ultrasound imaging system having automatic image presentation
CN112716521B (en) 2014-11-18 2024-03-01 C·R·巴德公司 Ultrasound imaging system with automatic image presentation
WO2018108712A1 (en) * 2016-12-12 2018-06-21 Koninklijke Philips N.V. Ultrasound guided positioning of therapeutic device
JP7157074B2 (en) * 2016-12-20 2022-10-19 コーニンクレッカ フィリップス エヌ ヴェ Navigation platform for medical devices, especially cardiac catheters
EP3592240B1 (en) 2017-03-10 2021-05-12 Koninklijke Philips N.V. Location system for locating an acoustic sensor
DE102018219444A1 (en) 2018-11-14 2020-05-14 B. Braun Melsungen Ag Medical instrument and medical ultrasound system with such an instrument

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4249539A (en) * 1979-02-09 1981-02-10 Technicare Corporation Ultrasound needle tip localization system
DE3311804C2 (en) * 1983-03-31 1994-08-04 Hans J Dr Einighammer Method and device for the highlighted sonographic representation of needle tips
GB2157828B (en) * 1984-04-19 1987-03-04 Jan Lesny Ultrasonic imaging apparatus and surgical instrument
YU132884A (en) 1984-07-26 1987-12-31 Branko Breyer Electrode cateter with ultrasonic marking
WO1996025882A1 (en) 1995-02-22 1996-08-29 Groenningsaeter Aage Method for ultrasound guidance during clinical procedures
US5797849A (en) * 1995-03-28 1998-08-25 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5817022A (en) * 1995-03-28 1998-10-06 Sonometrics Corporation System for displaying a 2-D ultrasound image within a 3-D viewing environment
GB2329709B (en) * 1997-09-26 2001-12-19 Roke Manor Research Catheter localisation system
GB2331365B (en) * 1997-11-15 2002-03-13 Roke Manor Research Catheter tracking system
US6950689B1 (en) * 1998-08-03 2005-09-27 Boston Scientific Scimed, Inc. Dynamically alterable three-dimensional graphical model of a body region
SE9804147D0 (en) * 1998-12-01 1998-12-01 Siemens Elema Ab System for three-dimensional imaging of an internal organ or body structure

Cited By (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7796789B2 (en) * 2003-03-27 2010-09-14 Koninklijke Philips Electronics N.V. Guidance of invasive medical devices by three dimensional ultrasonic imaging
US20060193504A1 (en) * 2003-03-27 2006-08-31 Koninklijke Philips Electronics N.V. Guidance of invasive medical devices by three dimensional ultrasonic imaging
WO2005082441A1 (en) * 2004-02-18 2005-09-09 Philips Intellectual Property & Standards Gmbh Catheter system and method for fine navigation in a vascular system
US10639004B2 (en) * 2004-11-23 2020-05-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Method and apparatus for localizing an ultrasound catheter
US20060184031A1 (en) * 2005-01-26 2006-08-17 Kabushiki Kaisha Toshiba Ultrasonic diagnostic apparatus and ultrasonic image acquiring method
US7985182B2 (en) 2005-01-26 2011-07-26 Kabushiki Kaisha Toshiba Ultrasonic diagnostic apparatus and ultrasonic image acquiring method
EP1685799A1 (en) * 2005-01-26 2006-08-02 Kabushiki Kaisha Toshiba Ultrasonic diagnostic apparatus and ultrasonic image acquiring method
US20060285638A1 (en) * 2005-06-21 2006-12-21 Jan Boese Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images
US7801342B2 (en) * 2005-06-21 2010-09-21 Siemens Aktiengesellschaft Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images
US20080171988A1 (en) * 2007-01-17 2008-07-17 Erblan Surgical, Inc. Double-cone sphincter introducer assembly and integrated valve assembly
US20170172539A1 (en) * 2010-05-03 2017-06-22 Koninklijke Philips N.V. Ultrasonic tracking of ultrasound transducer(s) aboard an interventional tool
US10130330B2 (en) * 2010-05-03 2018-11-20 Koninklijke Philips N.V. Ultrasonic tracking of ultrasound transducer(s) aboard an interventional tool
US11147532B2 (en) 2011-06-13 2021-10-19 Koninklijke Philips N.V. Three-dimensional needle localization with a two-dimensional imaging probe
CN103747729A (en) * 2011-06-13 2014-04-23 皇家飞利浦有限公司 Three-dimensional needle localization with two-dimensional imaging probe
US10588595B2 (en) 2011-07-01 2020-03-17 Koninklijke Philips N.V. Object-pose-based initialization of an ultrasound beamformer
CN103747743A (en) * 2011-07-01 2014-04-23 皇家飞利浦有限公司 Object-pose-based initialization of an ultrasound beamformer
WO2013005123A1 (en) * 2011-07-01 2013-01-10 Koninklijke Philips Electronics N.V. Object-pose-based initialization of an ultrasound beamformer
US9861337B2 (en) 2013-02-04 2018-01-09 General Electric Company Apparatus and method for detecting catheter in three-dimensional ultrasound images
CN103961135A (en) * 2013-02-04 2014-08-06 通用电气公司 System and method for detecting guide pipe position in three-dimensional ultrasonic image
US20160045184A1 (en) * 2013-03-15 2016-02-18 Colibri Technologies Inc. Active localization and visualization of minimally invasive devices using ultrasound
US11547487B2 (en) 2013-06-28 2023-01-10 Koninklijke Philips N.V. Scanner independent ultrasonic tracking of interventional instruments having an acoustic sensor by means of having an additional acoustic transducer coupled to ultrasound imaging probe
US10610196B2 (en) 2013-06-28 2020-04-07 Koninklijke Philips N.V. Shape injection into ultrasound image to calibrate beam patterns in real-time
US11324479B2 (en) 2013-06-28 2022-05-10 Koninklijke Philips N.V. Shape injection into ultrasound image to calibrate beam patterns in real-time
JP2016525401A (en) * 2013-07-23 2016-08-25 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Method and system for locating body structure
US10279194B2 (en) * 2013-09-19 2019-05-07 Koninklijke Philips N.V. High-dose rate brachytherapy system
US20160199668A1 (en) * 2013-09-19 2016-07-14 Koninklijke Philips N.V. High-dose rate brachytherapy system
CN105899143A (en) * 2014-01-02 2016-08-24 皇家飞利浦有限公司 Ultrasound navigation/tissue characterization combination
WO2015113807A1 (en) * 2014-01-29 2015-08-06 Koninklijke Philips N.V. System and method for imaging using ultrasound
CN106163410A (en) * 2014-04-11 2016-11-23 皇家飞利浦有限公司 There is the probe of multiple sensor
WO2015155632A1 (en) * 2014-04-11 2015-10-15 Koninklijke Philips N.V. Needle with multiple sensors
RU2695259C2 (en) * 2014-04-11 2019-07-22 Конинклейке Филипс Н.В. Needle with several sensors
JP2017510385A (en) * 2014-04-11 2017-04-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Needle with multiple sensors
CN107106119A (en) * 2014-10-30 2017-08-29 皇家飞利浦有限公司 The ultrasonic visualization of warp architecture
WO2017114701A1 (en) * 2015-12-31 2017-07-06 Koninklijke Philips N.V. System and method for interventional acoustic imaging
US11331070B2 (en) 2015-12-31 2022-05-17 Koninklijke Philips N.V. System and method for probe calibration and interventional acoustic imaging
WO2017194314A1 (en) * 2016-05-10 2017-11-16 Koninklijke Philips N.V. 3d tracking of an interventional instrument in 2d ultrasound guided interventions
US11653893B2 (en) 2016-05-10 2023-05-23 Koninklijke Philips N.V. 3D tracking of an interventional instrument in 2D ultrasound guided interventions
CN109788940A (en) * 2016-09-30 2019-05-21 皇家飞利浦有限公司 Track the feature of intervening equipment
WO2018060499A1 (en) * 2016-09-30 2018-04-05 Koninklijke Philips N.V. Tracking a feature of an interventional device
US11369340B2 (en) 2016-09-30 2022-06-28 Koninklijke Philips N.V. Tracking a feature of an interventional device
WO2018108717A1 (en) * 2016-12-12 2018-06-21 Koninklijke Philips N.V. Passive and active sensors for ultrasound tracking
US11439363B2 (en) * 2016-12-12 2022-09-13 Koninklijike Philips N.V. Smart tracked interventional tools including wireless transceiver
US11806187B2 (en) 2016-12-12 2023-11-07 Koninklijke Philips N.V. Passive and active sensors for ultrasound tracking
WO2019162217A1 (en) * 2018-02-22 2019-08-29 Koninklijke Philips N.V. Sensor-based shape identification
US11877887B2 (en) 2018-02-22 2024-01-23 Koninklijke Philips N.V. Sensor-based shape identification
EP3821812A1 (en) * 2019-11-12 2021-05-19 Biosense Webster (Israel) Ltd. Historical ultrasound data for display of live location data

Also Published As

Publication number Publication date
DE10115341A1 (en) 2002-10-02
US6587709B2 (en) 2003-07-01
EP1245191A3 (en) 2004-07-21
EP1245191A2 (en) 2002-10-02
JP2002306473A (en) 2002-10-22

Similar Documents

Publication Publication Date Title
US6587709B2 (en) Method of and imaging ultrasound system for determining the position of a catheter
US7477763B2 (en) Computer generated representation of the imaging pattern of an imaging device
US6038468A (en) Catheter localisation system
JP4448194B2 (en) Diagnosis and handling of medical equipment and video system
JP5294545B2 (en) Medical system for inserting a catheter into a vessel
US8814793B2 (en) Respiration monitor
US6473635B1 (en) Method of and device for determining the position of a medical instrument
JP6906113B2 (en) Devices, systems and methods for visualizing cyclically moving biological structures
US7778689B2 (en) Method for localizing a medical instrument introduced into the body of an examination object
US20120287750A1 (en) Imaging apparatus
US20060173287A1 (en) Method and arrangement for tracking a medical instrument
US7686764B2 (en) Ultrasound diagnostic apparatus for calculating positions to determine IMT and lumen boundaries
US20130184590A1 (en) Method and apparatus for orienting a medical image
JP2005152654A (en) Catheter apparatus
JP4602906B2 (en) Ultrasonic diagnostic equipment
US20170065353A1 (en) Identifying and presenting suspected map shifts
JP2001299756A (en) Ultrasonograph capable of detecting localization of catheter or small diameter probe
EP3570756B1 (en) System for imaging and tracking interventional devices
US7369639B2 (en) Method and tomography unit for taking tomographic pictures of a beating heart
GB2396012A (en) Monitoring respiration by detecting diaphragm position using ultrasound
WO2023173108A1 (en) Devices and methods for endoluminal position detection

Legal Events

Date Code Title Description
AS Assignment

Owner name: KONINKLIJKE PHILIPS ELECTRONICS N.V., NETHERLANDS

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SOLF, TORSTEN;ECK, KAI;REEL/FRAME:012968/0107;SIGNING DATES FROM 20020409 TO 20020416

REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20070701